An automatic positioning and self-penetrating device and method based on machine vision

Abstract

The present application belongs to the technical field of pin inserting device, and particularly relates to an automatic positioning and self pin inserting device and method based on machine vision. The present application comprises a base frame, a cylinder bracket and a shaft support for supporting a pin shaft. An adjusting mechanism for adjusting the lateral position and the height position is installed on the upper part of the base frame. A leveling mechanism is connected to the output end of the adjusting mechanism. The adjusting mechanism comprises a pull rod and an electric push rod, which are arranged longitudinally. The lower ends of the pull rod and the electric push rod are respectively connected to the cylinder bracket. A top shaft cylinder is installed in the cylinder bracket. The pin shaft is installed on the piston rod of the top shaft cylinder. The shaft support is fixed to the cylinder bracket. A linear slide module is installed in the cylinder bracket. A vision camera is installed on the output end of the linear slide module. The present application provides an automatic positioning and self pin inserting device and method based on machine vision, which can realize automatic positioning and adjustment of the shaft and the hole, and automatic reloading of the pin shaft.

Description

Technical Field

[0001] This invention belongs to the field of pin-threading device technology, and specifically relates to an automatic positioning and self-threading device and method based on machine vision. Background Technology

[0002] In situations involving a large number of large, tightly fitted pins, reinstalling them becomes time-consuming and labor-intensive. Pins require manual positioning and alignment with the shaft holes, and insertion often necessitates repeated hammering with a sledgehammer. When reinstallation is difficult, jacks are often used as an aid, resulting in extremely low efficiency. Summary of the Invention

[0003] To address the aforementioned problems in the existing technology, the present invention aims to provide an automatic positioning and self-pinning device and method based on machine vision. Employing a vision positioning system and adjustment platform, the device achieves automatic positioning and adjustment of shafts and holes. An automatically retractable hydraulic device pressurizes the pin, enabling automatic pin reinstallation, significantly increasing the pin reinstallation speed and greatly reducing the labor intensity of workers.

[0004] The technical solution adopted in this invention is as follows:

[0005] An automatic positioning and pin-threading device based on machine vision includes a base frame, a hydraulic cylinder bracket, and a support bracket for supporting the pin. An adjustment mechanism for adjusting the lateral and vertical positions is installed on the upper part of the base frame. The output end of the adjustment mechanism is connected to a leveling mechanism. The adjustment mechanism includes a pull rod and an electric push rod, which are arranged longitudinally. The lower ends of the pull rod and the electric push rod are respectively connected to the hydraulic cylinder bracket. A top-shaft hydraulic cylinder is installed inside the hydraulic cylinder bracket, and the pin is mounted on the piston rod of the top-shaft hydraulic cylinder. The support bracket is fixed to the hydraulic cylinder bracket. A linear slide module is installed inside the hydraulic cylinder bracket, and a vision camera is installed on the output end of the linear slide module.

[0006] This invention uses a vision camera to detect the offset position of the shaft hole center. The adjustment mechanism adjusts the cylinder bracket up, down, left, and right according to the offset position detection result, so as to achieve automatic alignment between the pin and the shaft hole center.

[0007] The cylinder bracket of this invention is suspended below the adjustment mechanism by a pull rod and an electric telescopic rod, with the pull rod and electric push rod arranged longitudinally. The longitudinal level of the cylinder bracket can be adjusted by the electric push rod. Since the pull rod and electric push rod are arranged longitudinally and their axes of rotation project laterally, the cylinder bracket can maintain lateral levelness under gravity. The cylinder bracket can maintain levelness in both the lateral and longitudinal directions, ensuring accurate pin positioning.

[0008] This invention uses a top-shaft hydraulic cylinder to push the pin through the pin, and the pin support bracket provides accurate guidance, thereby achieving automatic pin reinstallation. This greatly improves the speed of pin reinstallation and significantly reduces the labor intensity of workers.

[0009] As a preferred embodiment of the present invention, the adjusting mechanism includes a horizontal ball screw slide assembly, which is installed on the upper part of the base frame. The output end of the horizontal ball screw slide assembly is connected to a transverse frame, and a vertical ball screw slide assembly is installed on the transverse frame. A lifting plate is installed on the output end of the vertical ball screw slide assembly, and a pull rod and an electric push rod are respectively connected to the lifting plate.

[0010] The horizontal ball screw slide assembly adjusts the lateral position of the transverse frame, allowing the cylinder bracket to move laterally along with the transverse frame. The vertical ball screw slide assembly drives the lifting plate to rise and fall, thereby raising and lowering the cylinder bracket connected via a tie rod and an electric push rod. The adjustment mechanism adjusts the lateral position and vertical height of the cylinder bracket, allowing the pin's installation position to be aligned with the shaft hole.

[0011] As a preferred embodiment of the present invention, proximity switches are installed on the upper and lower parts of the transverse frame and on the left and right sides of the base frame. These four proximity switches enable the adjustment mechanism to be limited to its upper, lower, left, and right extreme positions.

[0012] In a preferred embodiment of the present invention, a linear slide rail is mounted on the cylinder bracket, and a cylinder mounting plate is mounted on the linear slide rail. The top shaft cylinder is fixed to the cylinder mounting plate. The top shaft cylinder can move freely backward according to the force applied.

[0013] As a preferred embodiment of the present invention, a cylinder return spring is connected between the cylinder mounting plate and the cylinder bracket to facilitate automatic reset of the top shaft cylinder.

[0014] As a preferred embodiment of the present invention, a laser displacement sensor is also installed on the output end of the linear slide module; a ring camera light source is also installed inside the cylinder bracket, and the ring camera light source is located in front of the lens of the vision camera. The vision camera and the laser displacement sensor are installed on the linear slide module. The laser displacement sensor detects the distance to the target object, and the linear slide module is moved back and forth by comparing it with the required field of view distance, thereby achieving a constant field of view distance of the vision camera.

[0015] In a preferred embodiment of the present invention, an angle sensor is installed on the top of the cylinder bracket. The angle sensor is used to detect the levelness of the cylinder bracket, and after detection, the longitudinal levelness of the cylinder bracket is adjusted by an electric push rod.

[0016] As a preferred embodiment of the present invention, the bearing support includes a V-shaped support, on both sides of which a sprocket and chain conveying device is installed, and a pin is disposed between the two sprocket and chain conveying devices.

[0017] As a preferred embodiment of the present invention, it also includes a hydraulic pump station, which is connected to the top shaft cylinder via pipelines; the base frame is also equipped with a cantilever control box and a control cabinet.

[0018] A machine vision-based automatic positioning and self-pinning method includes the following steps:

[0019] S1: Detect the angle of the top shaft cylinder, and adjust the cylinder bracket horizontally using an electric push rod based on the measured angle of the top shaft cylinder;

[0020] S2: Detect and adjust the field of view distance of the vision camera;

[0021] S3: The offset position of the shaft hole center is detected by a vision camera, and the cylinder bracket is adjusted up, down, left, and right by an adjustment mechanism;

[0022] S4: Place a pin on the piston rod of the top shaft cylinder;

[0023] S5: Start the top shaft cylinder to insert the pin.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. This invention uses a vision camera to detect the offset position of the shaft hole center. The adjustment mechanism adjusts the cylinder bracket up, down, left, and right according to the offset position detection result, so as to achieve automatic alignment between the pin and the shaft hole center.

[0026] 2. The cylinder bracket of the present invention is suspended below the adjustment mechanism by a pull rod and an electric telescopic rod, with the pull rod and electric push rod arranged longitudinally. The longitudinal level of the cylinder bracket can be adjusted by the electric push rod. Since the pull rod and electric push rod are arranged longitudinally and their axes of rotation project laterally, the cylinder bracket can maintain lateral levelness under gravity. The cylinder bracket can maintain levelness in both the lateral and longitudinal directions, ensuring accurate pin positioning.

[0027] 3. This invention uses a top-shaft hydraulic cylinder to push the pin through the pin, and the support bracket provides accurate guidance, thereby achieving automatic reinstallation of the pin, which greatly improves the speed of pin reinstallation and significantly reduces the labor intensity of workers. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention;

[0029] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0030] Figure 3 This is a cross-sectional view of the top axis state of the present invention;

[0031] Figure 4 This is a structural diagram of the base frame;

[0032] Figure 5 This is a schematic diagram of the structure of the bearing support;

[0033] Figure 6 This is a structural schematic diagram of the hydraulic cylinder bracket;

[0034] Figure 7 This is a partial sectional view of the hydraulic cylinder bracket;

[0035] Figure 8 This is a structural schematic diagram of a hydraulic pump station;

[0036] Figure 9 This is a structural schematic diagram of the cantilever control box;

[0037] Figure 10 This is the control flowchart of the present invention.

[0038] In the diagram: 1-Base frame; 2-Cylinder bracket; 3-Spindle support bracket; 4-Adjustment mechanism; 5-Leveling mechanism; 6-Top shaft cylinder; 7-Hydraulic pump station; 8-Cantilever control box; 9-Control cabinet; 11-Base; 12-Omnidirectional wheel; 21-Linear slide module; 22-Vision camera; 23-Linear slide rail; 24-Cylinder mounting plate; 25-Cylinder return spring; 26-Laser displacement sensor; 27-Ring camera light source; 28-Angle sensor; 29-Top shaft positioning proximity switch; 31-V-shaped bracket; 32-Sprocket and chain conveyor device; 33-Support block; 41-Horizontal ball screw slide assembly ; 42-Horizontal sliding frame; 43-Vertical ball screw slide assembly; 44-Lifting plate; 45-Proximity switch; 51-Pull rod; 52-Electric push rod; 71-Pump station base; 72-Roller; 73-Oil tank; 74-Oil pump motor; 75-Valve block; 76-Distribution box; 81-Illuminated positioning button; 82-Illuminated pin button; 83-Stop button; 84-Alarm buzzer; 85-Emergency stop button; 411-Horizontal stepper motor; 412-Horizontal lead screw; 413-Horizontal slide rail; 431-Lifting stepper motor; 432-Lifting lead screw; 433-Lifting guide rod; a-Pin; b-Shaft hole. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0040] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention. It should be noted that, unless otherwise specified, the embodiments and features described in the embodiments of the invention can be combined with each other.

[0041] like Figures 1-3 As shown, the automatic positioning and self-threading pin device based on machine vision in this embodiment includes a base frame 1, a cylinder bracket 2, and a support bracket 3 for supporting the pin a. An adjustment mechanism 4 for adjusting the lateral and height positions is installed on the upper part of the base frame 1. The output end of the adjustment mechanism 4 is connected to a leveling mechanism 5. The adjustment mechanism 4 includes a pull rod 51 and an electric push rod 52, which are arranged longitudinally. The lower ends of the pull rod 51 and the electric push rod 52 are respectively connected to the cylinder bracket 2. A top shaft cylinder 6 is installed in the cylinder bracket 2, and the pin a is installed on the piston rod of the top shaft cylinder 6. The support bracket 3 is fixed on the cylinder bracket 2. A linear slide module 21 is installed in the cylinder bracket 2, and a vision camera 22 is installed on the output end of the linear slide module 21.

[0042] The present invention uses a vision camera 22 to detect the offset position of the center of the shaft hole b. The adjustment mechanism 4 adjusts the cylinder bracket 2 up, down, left, and right according to the offset position detection result, so as to realize the automatic alignment of the center of the pin a with the center of the shaft hole b on the ear plate.

[0043] The cylinder bracket 2 of this invention is suspended below the adjusting mechanism 4 by a pull rod 51 and an electric telescopic rod. The pull rod 51 and the electric push rod 52 are arranged longitudinally, and the longitudinal level of the cylinder bracket 2 can be adjusted by the electric push rod 52. Since the pull rod 51 and the electric push rod 52 are arranged longitudinally and their rotation axes coincide in the transverse direction, the cylinder bracket 2 can maintain a horizontal level under the action of gravity. The cylinder bracket 2 can maintain a horizontal position both laterally and longitudinally, ensuring the accurate positioning of the pin a.

[0044] This invention uses a top-shaft cylinder 6 to push the pin a through the pin, and the support bracket 3 provides accurate guidance, thereby achieving automatic reinstallation of the pin a, which greatly improves the speed of pin a reinstallation and significantly reduces the labor intensity of workers.

[0045] Specifically, such as Figures 1-3 As shown, the adjustment mechanism 4 includes a horizontal ball screw slide assembly 41, which is installed on the upper part of the base frame 1. The output end of the horizontal ball screw slide assembly 41 is connected to a transverse frame 42. A vertical ball screw slide assembly 43 is installed on the transverse frame 42. A lifting plate 44 is installed on the output end of the vertical ball screw slide assembly 43. A pull rod 51 and an electric push rod 52 are respectively connected to the lifting plate 44.

[0046] The horizontal ball screw slide assembly 41 adjusts the lateral position of the transverse frame 42, allowing the cylinder bracket 2 to move laterally along with the transverse frame 42. The vertical ball screw slide assembly 43 drives the lifting plate 44 to rise and fall, thereby enabling the cylinder bracket 2 to rise and fall via the tie rod 51 and the electric push rod 52. The adjusting mechanism 4 adjusts the lateral position and vertical height of the cylinder bracket 2, allowing the installation position of the pin a to be aligned with the shaft hole b.

[0047] The horizontal ball screw slide assembly 41 includes a horizontal stepper motor 411 mounted on the upper part of the base frame 1. The output end of the horizontal stepper motor 411 is connected to a horizontal lead screw 412 via a coupling. A horizontal slider is threaded onto the horizontal lead screw 412. A horizontal slide rail 413 is provided on the upper part of the base frame 1. The horizontal slider is sleeved on the horizontal slide rail 413. The horizontal frame 42 is fixed on the horizontal slider.

[0048] The vertical ball screw slide assembly 43 includes a lifting stepper motor 431 mounted on the top of the transverse frame 42. The output end of the lifting stepper motor 431 is connected to a lifting screw 432 via a coupling. A lifting block is threaded onto the lifting screw 432, and a lifting plate 44 is fixed to the lifting block. Several lifting guide rods 433 are fixed on the transverse frame 42, and the lifting guide rods 433 pass through the lifting plate 44.

[0049] Furthermore, proximity switches 45 are installed on the upper and lower parts of the transverse frame 42 and on the left and right sides of the base frame 1. The upper, lower, left, and right limit positions of the adjustment mechanism 4 are achieved through the four proximity switches 45.

[0050] like Figure 3 , Figure 6 and Figure 7As shown, the unit consisting of the cylinder bracket 2 and the top shaft cylinder 6 serves as the main actuator of the pin-threading device, undertaking the functions of supporting the pin a, visual positioning, and top shaft operation. The shaft support bracket 3 is installed at the front of the mounting plate inside the cylinder bracket 2, and a linear slide rail 23 is installed at the rear of the cylinder bracket 2. A cylinder mounting plate 24 is mounted on the linear slide rail 23, and the top shaft cylinder 6 is fixed to the cylinder mounting plate 24. The top shaft cylinder 6 can move freely backward according to the force applied. A cylinder return spring 25 connects the cylinder mounting plate 24 and the cylinder bracket 2 to facilitate the automatic return of the top shaft cylinder 6.

[0051] Furthermore, a laser displacement sensor 26 is also installed on the output end of the linear slide module 21; a ring camera light source 27 is also installed inside the cylinder bracket 2, and the ring camera light source 27 is located in front of the lens of the vision camera 22. The vision camera 22 and the laser displacement sensor 26 are mounted on the linear slide module 21. The laser displacement sensor 26 detects the distance to the target object, and by comparing it with the required field of view distance, the linear slide module 21 is moved back and forth, thereby achieving a constant field of view distance for the vision camera 22.

[0052] An angle sensor 28 is installed on the top of the cylinder bracket 2. The angle sensor 28 is used to detect the levelness of the cylinder bracket 2. After detection, the longitudinal levelness of the cylinder bracket 2 is adjusted by the electric push rod 52.

[0053] The cylinder bracket 2 is also equipped with a top shaft positioning proximity switch 29. The top shaft cylinder 6 pushes the pin a to move until the top shaft positioning proximity switch 29 is activated.

[0054] like Figure 4 As shown, the base frame 1 consists of a base 11 and omnidirectional wheels 12. Four omnidirectional wheels 12 are mounted on the lower part of the base 11 to enable omnidirectional movement of the device. Handles are provided on the left and right sides of the base 11 for easy pushing and pulling of the device. Mounting holes for a transverse stepper motor 411 and a horizontal ball screw slide assembly 41 are provided on the upper part of the base 11 to accommodate the installation of the adjustment mechanism 4.

[0055] like Figure 5 As shown, the bearing support 3 includes a V-shaped bracket 31, with sprocket and chain conveying devices 32 mounted on both sides of the V-shaped bracket 31. The pin a is positioned between the two sprocket and chain conveying devices 32. Support blocks 33 are spaced apart on the sprocket and chain conveying devices 32, symmetrically mounted on both sides of the V-shaped bracket 31. The support blocks 33 support the pin a, and the boss of the pin a is placed at the intervals of the support blocks 33. This structure allows the pin a with the boss to be placed horizontally.

[0056] like Figure 8As shown, the present invention also includes a hydraulic pump station 7, which is connected to the top shaft cylinder 6 via pipelines. The hydraulic pump station 7 mainly consists of a movable trolley, a pump station, and a distribution box 76. Rollers 72 are provided below the pump station base 71, and the pump station, distribution box 76, and handles for easy pushing and pulling are installed above the pump station base 71. The pump station mainly consists of a cylinder, a pump motor 74, and a valve block 75. The hydraulic pump station 7 serves as the main power source for the top shaft of the pin-threading device, and it is connected to the pin-threading device via aviation cables and quick-connect high-pressure hoses.

[0057] like Figure 9 As shown, a cantilever control box 8 and a control cabinet 9 are also installed on the base frame 1. The cantilever control box 8 is mounted on one of the columns of the base frame 1, and the control cabinet 9 is installed on the opposite side. The cantilever control box 8 is equipped with a touch screen and illuminated positioning buttons 81, illuminated pin insertion buttons 82, a stop button 83, an alarm buzzer 84, and an emergency stop button 85 for operation and display. A handle is provided on the top of the control cabinet 9 to facilitate the pushing and pulling of the pin insertion device.

[0058] like Figure 10 As shown, the automatic positioning and self-pinning method based on machine vision in this embodiment includes the following steps:

[0059] S1: Detect the angle of the top shaft cylinder 6, and adjust the cylinder bracket 2 horizontally using the electric push rod 52 based on the measured angle of the top shaft cylinder 6.

[0060] S2: Detect and adjust the field of view distance of vision camera 22;

[0061] S3: The offset position of the center of the shaft hole b is detected by the vision camera 22, and the cylinder bracket 2 is adjusted up, down, left and right by the adjustment mechanism 4;

[0062] S4: Place pin a on the piston rod of top shaft cylinder 6;

[0063] S5: Start the top shaft cylinder 6 to insert the pin a.

[0064] Working principle:

[0065] The device of this invention is equipped with omnidirectional wheels 12, enabling omnidirectional movement of the device. The pump station is connected to the top shaft cylinder 6 via aviation cables and quick-connect high-pressure hoses. During initial use, a reference hole position is identified; subsequently, the positioning of the shaft hole b and the pin insertion process can be completed automatically. During pin insertion, the pin insertion device is pushed into the working position, and the positioning button on the cantilever control box 8 is pressed. The positioning indicator light flashes. Simultaneously, the adjustment mechanism 4 first performs horizontal adjustment and the field of view distance adjustment of the vision camera 22. Then, while taking pictures and identifying, adjustments are made up, down, left, and right until the positioning meets the requirements, and the positioning light remains on. Afterward, the pin a is placed on the shaft support bracket 3, and the pin insertion button is pressed. The pin insertion indicator light flashes, and the oil pump starts. The pin insertion solenoid valve actuates, and the top shaft cylinder 6 begins to push the shaft. After the shaft is in place, the pin insertion indicator light remains on, and the top shaft cylinder 6 begins to retract. After the top shaft cylinder 6 retracts to its final position, the pump stops, and the process ends.

[0066] When setting the reference, push the pin-threading device into the working position, operate the electric push rod 52 to manually adjust the level of the hydraulic cylinder bracket 2, operate the linear slide module 21 to adjust the field of view distance of the vision camera 22, and operate the adjustment mechanism 4 to align the center of the support shaft bracket 3 with the center of the shaft hole b. At this time, the camera reference image can be captured and registered, and the camera detection settings can be performed, thus completing the positioning reference setting of the shaft hole b of the pin-threading device.

[0067] like Figure 9 As shown, the automatic pin-threading control process of the pin-threading device is as follows: Select automatic pin-threading → Detect whether there is a stop command → If there is, stop all mechanisms → If not, detect whether there is a positioning command → If there is, adjust the bracket horizontally according to the angle detected by angle sensor 28, and adjust the camera field of view distance according to the distance detected by laser displacement sensor 26 → After the horizontal adjustment and camera field of view distance adjustment are completed, detect the offset position of the shaft hole b center and simultaneously adjust the bracket up, down, left, and right → No fault, limit, or emergency stop conditions → Continue positioning adjustment until positioning is completed → Place pin a → Detect whether there is a pin-threading command → If there is, start the pump station → Top shaft cylinder 6 extends and the solenoid valve actuates → Detect whether the pin is in place → Pin placement proximity switch 45 actuates → Top shaft cylinder 6 extends and the solenoid valve returns, top shaft cylinder 6 retracts and the solenoid valve actuates → Detect whether top shaft cylinder 6 retracts and the solenoid valve actuates → Top shaft cylinder 6 retracts and the proximity switch 45 actuates → Stop all mechanisms, and the process ends.

[0068] The pin-threading device is equipped with a human-machine interactive touch screen, which can display the status of each mechanism of the pin-threading device in real time, and realize automatic and manual control of the pin-threading device. At the same time, it can record fault alarm information of the pin-threading device.

[0069] This invention is not limited to the above-described optional embodiments. Anyone can derive other various forms of products under the guidance of this invention. However, regardless of any changes made in their shape or structure, any technical solution that falls within the scope of the claims of this invention shall be protected by this invention.

Claims

1. An automatic positioning and self-attaching pin device based on machine vision, characterized in that: The system includes a base frame (1), a cylinder bracket (2), and a support bracket (3) for supporting the pin (a). The upper part of the base frame (1) is equipped with an adjustment mechanism (4) for adjusting the lateral and height positions. The output end of the adjustment mechanism (4) is connected to a leveling mechanism (5). The adjustment mechanism (4) includes a pull rod (51) and an electric push rod (52). The pull rod (51) and the electric push rod (52) are arranged longitudinally. The lower end of the pull rod (51) and the lower end of the electric push rod (52) are respectively connected to the cylinder bracket (2). A top shaft cylinder (6) is installed inside the cylinder bracket (2). The pin (a) is installed on the piston rod of the top shaft cylinder (6). The support bracket (3) is fixed on the cylinder bracket (2). A linear slide module (21) is installed inside the cylinder bracket (2). A vision camera (22) is installed on the output end of the linear slide module (21). A linear slide rail (23) is installed on the cylinder bracket (2), and a cylinder mounting plate (24) is installed on the linear slide rail (23). The top shaft cylinder (6) is fixed on the cylinder mounting plate (24). A cylinder return spring (25) is connected between the cylinder mounting plate (24) and the cylinder bracket (2). The adjustment mechanism (4) includes a horizontal ball screw slide assembly (41), which is installed on the upper part of the base frame (1). The output end of the horizontal ball screw slide assembly (41) is connected to a transverse frame (42). A vertical ball screw slide assembly (43) is installed on the transverse frame (42). A lifting plate (44) is installed on the output end of the vertical ball screw slide assembly (43). A pull rod (51) and an electric push rod (52) are respectively connected to the lifting plate (44). An angle sensor (28) is installed on the top of the cylinder bracket (2).

2. The automatic positioning and self-pinning device based on machine vision according to claim 1, characterized in that: Proximity switches (45) are installed on the upper and lower parts of the transverse frame (42) and on the left and right sides of the base frame (1) in the transverse direction.

3. The automatic positioning and self-pinning device based on machine vision according to claim 1, characterized in that: A laser displacement sensor (26) is also installed on the output end of the linear slide module (21); a ring camera light source (27) is also installed inside the cylinder bracket (2), and the ring camera light source (27) is located in front of the lens of the vision camera (22).

4. The automatic positioning and self-threading device based on machine vision according to claim 1, characterized in that: The bearing support (3) includes a V-shaped support (31), and sprocket and chain transmission devices (32) are installed on both sides of the V-shaped support (31). The pin (a) is located between the two sprocket and chain transmission devices (32).

5. The automatic positioning and self-pinning device based on machine vision according to claim 1, characterized in that: It also includes a hydraulic pump station (7), which is connected to the top shaft cylinder (6) via pipeline; the base frame (1) is also equipped with a cantilever control box (8) and a control cabinet (9).

6. A machine vision-based automatic positioning and self-threading pin method, using the machine vision-based automatic positioning and self-threading pin device according to any one of claims 1 to 5, characterized in that: Includes the following steps: S1: Detect the angle of the top shaft cylinder (6), and adjust the cylinder bracket (2) horizontally by means of electric push rod (52) according to the measured angle of the top shaft cylinder (6); S2: Detect and adjust the field of view distance of the visual camera (22); S3: The offset position of the center of the shaft hole (b) is detected by the vision camera (22), and the cylinder bracket (2) is adjusted up, down, left and right by the adjustment mechanism (4); S4: Place a pin (a) on the piston rod of the top shaft cylinder (6); S5: Start the top shaft cylinder (6) to insert the pin (a).

Images